hardware_architecture.md

Hardware Architecture

flowchart TB
    subgraph "BeagleBone System"
        direction TB
        
        subgraph "Main Hardware"
            BB[BeagleBone Black/Green\nMain Controller]
            I2C2[I2C2 Bus\nCommunication Interface]
            UART4[UART4\nSerial Interface]
            UART1[UART1\nSerial Interface]
            GPIO[GPIO Control]
            
            BB --> I2C2
            BB --> UART4
            BB --> UART1
            BB --> GPIO
        end
        
        subgraph "I2C Peripherals"
            direction TB
            RTC[DS3231 RTC\nAddress: 0x68\nHigh Precision\nReal Time Clock]
            MPU[MPU6050\nAddress: 0x69\nMotion Tracking\n6-Axis Sensor]
            EEPROM[AT24C256\nAddress: 0x50\n256Kb Storage\nBoard Configuration]
            
            I2C2 --> RTC
            I2C2 --> MPU
            I2C2 --> EEPROM
        end

        subgraph "UART Devices"
            direction TB
            LIDAR[YD-LiDAR X4\nUART4\n360 Scanning\n5-12m Range]
            GPS[NEO-6M\nUART1\nGPS Module]
            UART4 --> LIDAR
            UART1 --> GPS
        end

        subgraph "Motor Control"
            direction TB
            MOTOR[Motor Enable\nGPIO1_28\nPin: GPMC_BEN1]
            GPIO --> MOTOR
        end
        
        subgraph "Board Configuration Storage"
            direction TB
            BoardID[Board Identification\nHardware Version\nBuild Information]
            Config[System Configuration\nPeriph Settings\nCalibration Data]
            Parameters[Operating Parameters\nSystem Settings\nFeature Flags]
            
            EEPROM --> BoardID
            EEPROM --> Config
            EEPROM --> Parameters
        end
    end
    
    style BB fill:#f96,stroke:#c63,stroke-width:3px,color:#000,font-weight:bold
    style I2C2 fill:#9cf,stroke:#36a,stroke-width:2px,color:#000,font-weight:bold
    style UART4 fill:#9cf,stroke:#36a,stroke-width:2px,color:#000,font-weight:bold
    style UART1 fill:#9cf,stroke:#36a,stroke-width:2px,color:#000,font-weight:bold
    style GPIO fill:#9cf,stroke:#36a,stroke-width:2px,color:#000,font-weight:bold
    style RTC fill:#9f9,stroke:#393,stroke-width:2px,color:#000,font-weight:bold
    style MPU fill:#9f9,stroke:#393,stroke-width:2px,color:#000,font-weight:bold
    style EEPROM fill:#ff9,stroke:#cc6,stroke-width:2px,color:#000,font-weight:bold
    style LIDAR fill:#f99,stroke:#933,stroke-width:2px,color:#000,font-weight:bold
    style GPS fill:#f99,stroke:#933,stroke-width:2px,color:#000,font-weight:bold
    style MOTOR fill:#f99,stroke:#933,stroke-width:2px,color:#000,font-weight:bold
    style BoardID fill:#fcf,stroke:#939,stroke-width:2px,color:#000,font-weight:bold
    style Config fill:#fcf,stroke:#939,stroke-width:2px,color:#000,font-weight:bold
    style Parameters fill:#fcf,stroke:#939,stroke-width:2px,color:#000,font-weight:bold

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Hardware Details

Main Controller

• BeagleBone Black/Green
  • ARM Cortex-A8 processor
  • Multiple I2C, SPI, and UART interfaces
  • PRU real-time units
  • Supports multiple board variants

Communication Interfaces

1. I2C2 Bus

• Multiple I2C devices
• Standard mode operation
• Shared bus with multiple peripherals

2. UART4

• LIDAR scanner interface
• Serial communication
• Distance measurement data

3. UART1

• GPS module interface
• Serial communication
• Positioning data

4. GPIO Control

• Motor enable pin (GPIO1_28/GPMC_BEN1)
• Output mode with pull-down
• Motor activation control

I2C Peripherals

1. DS3231 RTC Module

• I2C Address: 0x68
• Features:
  • High-precision real-time clock
  • Temperature-compensated crystal oscillator
  • ±2ppm accuracy
  • Battery backup
  • Temperature sensor

2. MPU6050 Motion Sensor

• I2C Address: 0x69
• Features:
  • 6-axis motion tracking
  • 3-axis accelerometer
  • 3-axis gyroscope
  • Digital Motion Processor

3. AT24C256 EEPROM

• I2C Address: 0x50
• Specifications:
  • 256Kb (32KB) storage capacity
  • Write protect support
  • 1 million write cycles
  • 100 years data retention
• Usage:
  • Board variant identification
  • System configuration storage
  • Calibration data
  • Feature flags

Motor Control System

• Enable Pin: GPIO1_28 (GPMC_BEN1)
• Configuration:
  • Output mode
  • Pull-down enabled
  • Default state: off
• Features:
  • Motor activation control
  • Software-controlled enable/disable
  • Status monitoring

LIDAR System

• Interface: UART4
• Features:
  • Distance measurement
  • Scanning capability
  • Real-time data acquisition
• Integration:
  • Connected via serial interface
  • Motor control for scanning
  • Data processing through main processor

GPS Module

• Interface: UART1
• Features:
  • Standard NMEA data output
  • Serial communication
  • Built-in antenna
  • Power-saving modes